OKMC Apr12 * SG170 * Dive index * Mission links * Dive 129 * Raw log
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• Previous call tries 4 • 29.67 of 146.00 AH used of 24V (79.68% remains)
• Previous NAKs 0, Timeouts 0 • 13.37 of 97.50 AH used of 10V (86.28% remains)
• Surface angle -74.5 deg, depth 1.98 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 41 s
• GPS2 time: 17 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 102 VBD -0.46 - - 135 - - - 2693 - -194.6 -81.40 - 2700 - - - - - - - - - - -
105 3.4 -3.4 8 148 roll -0.46 10.45 0.243 2641 239.8 1.65 0.077 3692 605.5 -194.6 -22.92 - 3927 -53.5 - - - - - - - 25.41 25.94 26.44
282 51.2 -24.6 25 288 done -0.36 0.15 0.145 2686 300.0 1.55 0.029 2648 -673.5 -194.6 - - 3929 - - - - - - - - 25.90 26.22 -
596 84.4 -9.6 41 602 roll -0.40 - - 2686 - 1.70 0.058 3700 618.8 -194.6 - - 3930 - - - - - - - - - 26.13 -
648 87.7 -8.5 43 654 done -0.45 - - 2686 - 1.50 0.031 2656 -696.0 -194.6 - - 3931 - - - - - - - - - 26.40 -
961 104.8 -5.6 59 967 roll -0.53 0.15 0.077 2591 -633.3 1.98 0.030 1298 -685.9 -194.6 - - 3931 - - - - - - - - 26.51 26.37 -
1059 115.8 -13.2 63 1067 done -0.52 0.15 0.150 2633 280.0 2.12 0.047 2665 644.8 -194.6 - - 3931 - - - - - - - - 26.05 26.26 -
1365 150.6 -8.1 79 1366 done -0.54 - - 2633 - - - 2666 - -194.6 - - 3930 - - - - - - - - - - -
1667 169.8 -6.7 94 1668 done -0.57 - - 2633 - - - 2666 - -194.6 - - 3929 - - - - - - - - - - -
1966 196.2 -9.3 109 1972 roll -0.61 - - 2633 - 1.62 0.057 3699 637.7 -194.6 - - 3927 - - - - - - - - - 26.31 -
2013 200.3 -9.4 111 2019 done -0.66 0.15 0.077 2547 -573.3 1.50 0.032 2659 -693.3 -194.6 - - 3927 - - - - - - - - 26.47 26.57 -
2332 245.9 -14.1 127 2334 done -0.59 0.20 0.138 2609 310.0 - - 2658 - -194.6 - - 3925 - - - - - - - - 26.25 - -
2633 270.9 -8.1 142 2634 done -0.61 - - 2609 - - - 2658 - -194.6 - - 3923 - - - - - - - - - - -
2934 296.9 -8.7 157 2939 roll -0.64 - - 2609 - 2.00 0.031 1291 -683.5 -194.6 - - 3921 - - - - - - - - - 26.51 -
2978 300.7 -8.7 159 2983 done -0.66 - - 2609 - 2.15 0.045 2668 640.5 -194.6 - - 3921 - - - - - - - - - 26.36 -
3302 325.5 -7.6 175 3307 roll -0.70 - - 2609 - 2.03 0.032 1294 -676.8 -194.6 - - 3918 - - - - - - - - - 26.48 -
3365 330.5 -7.9 178 3372 done -0.73 0.12 0.090 2538 -591.7 2.12 0.045 2661 644.8 -194.6 - - 3917 - - - - - - - - 26.38 26.36 -
3690 374.3 -13.6 194 3696 roll -0.67 0.12 0.149 2579 341.7 1.62 0.054 3703 643.2 -194.6 - - 3914 - - - - - - - - 26.40 26.31 -
3833 388.2 -9.3 201 3838 done -0.67 - - 2579 - 1.55 0.033 2667 -668.4 -194.6 - - 3913 - - - - - - - - - 26.57 -
4155 416.4 -9.2 217 4160 roll -0.67 - - 2579 - 2.05 0.030 1271 -681.0 -194.6 - - 3910 - - - - - - - - - 26.49 -
4186 418.5 -9.3 218 4192 done -0.67 - - 2579 - 2.17 0.047 2675 647.0 -194.6 - - 3909 - - - - - - - - - 26.34 -
4499 451.8 -10.6 234 4500 done -0.67 - - 2579 - - - 2675 - -194.6 - - 3907 - - - - - - - - - - -
4800 478.9 -8.1 249 4801 done -0.67 - - 2579 - - - 2675 - -194.6 - - 3905 - - - - - - - - - - -
5100 502.1 -8.3 264 5102 done -0.67 - - 2579 - - - 2675 - -194.6 - - 3902 - - - - - - - - - - -
5400 528.7 -9.2 279 5401 done -0.67 - - 2579 - - - 2675 - -194.6 - - 3900 - - - - - - - - - - -
5701 554.1 -7.9 294 5706 roll -0.67 - - 2579 - 2.10 0.031 1274 -667.1 -194.6 - - 3897 - - - - - - - - - 26.46 -
5724 556.0 -7.8 295 5729 done -0.67 - - 2579 - 2.20 0.048 2666 632.7 -194.6 - - 3898 - - - - - - - - - 26.29 -
6047 580.2 -7.5 311 6053 roll -0.68 - - 2579 - 1.65 0.059 3701 627.3 -194.6 - - 3895 - - - - - - - - - 26.22 -
6080 581.9 -7.4 312 6085 done -0.70 - - 2579 - 1.52 0.036 2675 -675.0 -194.6 - - 3895 - - - - - - - - - 26.52 -
6403 608.1 -8.1 327 6408 roll -0.72 - - 2579 - 2.05 0.032 1279 -681.0 -194.6 - - 3893 - - - - - - - - - 26.43 -
6465 613.4 -8.2 329 6471 done -0.73 - - 2579 - 2.20 0.047 2675 634.5 -194.6 - - 3892 - - - - - - - - - 26.27 -
6800 640.4 -8.0 340 6805 roll -0.75 - - 2579 - 2.08 0.032 1283 -669.2 -194.6 - - 3890 - - - - - - - - - 26.43 -
6833 643.4 -8.2 341 6839 done -0.77 - - 2579 - 2.17 0.047 2657 633.2 -194.6 - - 3890 - - - - - - - - - 26.26 -
7168 671.0 -8.3 352 7174 roll -0.78 - - 2579 - 2.08 0.032 1281 -661.5 -194.6 - - 3888 - - - - - - - - - 26.42 -
7221 674.0 -8.3 353 7227 done -0.80 0.12 0.094 2511 -566.7 2.17 0.047 2658 634.6 -194.6 - - 3888 - - - - - - - - 26.26 26.25 -
7537 716.6 -13.4 364 7543 roll -0.74 0.15 0.143 2560 326.7 1.67 0.057 3700 624.0 -194.6 - - 3887 - - - - - - - - 26.29 26.15 -
7590 720.6 -12.9 365 7596 done -0.69 - - 2561 - 1.58 0.035 2646 -667.1 -194.6 - - 3887 - - - - - - - - - 26.50 -
7904 747.9 -8.0 376 7910 roll -0.69 - - 2561 - 2.05 0.032 1267 -672.7 -194.6 - - 3885 - - - - - - - - - 26.41 -
7937 750.6 -8.1 377 7942 done -0.69 - - 2561 - 2.17 0.048 2651 637.8 -194.6 - - 3886 - - - - - - - - - 26.21 -
8271 779.4 -9.1 388 8276 roll -0.69 - - 2560 - 1.67 0.060 3697 626.3 -194.6 - - 3883 - - - - - - - - - 26.13 -
8337 785.5 -9.5 390 8342 done -0.69 - - 2561 - 1.60 0.036 2660 -648.1 -194.6 - - 3882 - - - - - - - - - 26.47 -
8666 815.6 -9.0 401 8671 roll -0.69 - - 2561 - 2.08 0.033 1269 -668.8 -194.6 - - 3881 - - - - - - - - - 26.37 -
8707 818.7 -9.1 402 8712 done -0.69 - - 2561 - 2.20 0.048 2659 631.8 -194.6 - - 3881 - - - - - - - - - 26.19 -
9031 846.5 -8.5 413 9037 roll -0.69 - - 2561 - 2.08 0.033 1272 -666.8 -194.6 - - 3880 - - - - - - - - - 26.36 -
9073 849.4 -8.6 414 9079 done -0.69 - - 2561 - 2.17 0.049 2657 638.2 -194.6 - - 3880 - - - - - - - - - 26.17 -
9396 880.5 -9.7 425 9402 roll -0.69 - - 2561 - 1.67 0.060 3697 622.8 -194.6 - - 3879 - - - - - - - - - 26.07 -
9429 883.6 -9.7 426 9435 done -0.69 - - 2561 - 1.62 0.037 2641 -651.9 -194.6 - - 3879 - - - - - - - - - 26.44 -
9763 916.2 -9.8 437 9769 roll -0.69 - - 2561 - 2.03 0.033 1272 -674.4 -194.6 - - 3878 - - - - - - - - - 26.36 -
9790 916.2 -9.8 437 9797 done -0.69 - - 2561 - 2.20 0.049 2659 630.5 -194.6 - - 3878 - - - - - - - - - 26.14 -
10097 947.9 -9.5 448 10098 done -0.69 - - 2561 - - - 2659 - -194.6 - - 3877 - - - - - - - - - - -
10396 974.3 -8.5 458 10402 roll -0.69 - - 2561 - 2.10 0.034 1271 -661.0 -194.6 - - 3876 - - - - - - - - - 26.33 -
10474 979.8 -8.5 460 10479 done -0.69 - - 2561 - 2.17 0.048 2640 630.9 -194.6 - - 3876 - - - - - - - - - 26.12 -
10610 end dive: TARGET_DEPTH_EXCEEDED
10610 begin apogee
10615 992.1 -8.1 465 10780 roll -0.12 0.57 0.108 2758 345.6 - - 1921 - - 158.15 1.444 3121 -4.8 0.354 - - - - - - 25.75 - 23.18
10782 end apogee: CONTROL_FINISHED_OK
10782 begin climb
10784 998.6 - 470 10973 roll 0.46 0.55 0.058 2961 369.1 2.28 0.040 542 -604.8 194.6 179.85 1.401 2327 -4.4 0.340 - - - - - - 24.60 24.59 22.70
10991 989.5 7.5 477 11036 done 0.44 - - 2961 - 2.35 0.038 1940 594.9 234.1 37.22 1.340 2165 -4.4 0.347 - - - - - - - 24.35 22.89
11337 950.6 10.7 489 11342 roll 0.42 - - 2968 - 2.22 0.041 543 -629.3 234.1 - - 2156 - - - - - - - - - 25.77 -
11468 937.8 10.4 493 11474 done 0.42 0.12 0.145 2932 -300.0 2.20 0.039 1954 641.4 234.1 - - 2157 - - - - - - - - 25.77 25.94 -
11794 912.0 7.4 504 11840 roll 0.47 - - 2932 - 2.35 0.053 3342 590.6 278.5 38.83 1.356 1984 -4.5 0.324 - - - - - - - 25.26 24.06
11888 905.2 7.3 507 11936 done 0.52 - - 2937 - 2.17 0.032 1956 -638.7 323.9 41.58 1.341 1800 -4.4 0.323 - - - - - - - 25.63 23.80
12245 878.4 7.5 519 12288 roll 0.59 0.12 0.090 3011 616.7 2.38 0.053 3340 581.5 364.1 35.55 1.329 1636 -4.6 0.329 - - - - - - 26.08 25.19 24.03
12307 870.6 9.9 521 12312 done 0.59 - - 3014 - 2.20 0.034 1970 -622.7 364.1 - - 1634 - - - - - - - - - 25.44 -
12642 817.4 15.7 532 12648 roll 0.53 0.12 0.165 2983 -258.3 2.22 0.041 528 -649.5 364.1 - - 1630 - - - - - - - - 25.93 26.01 -
12774 803.0 11.2 536 12780 done 0.53 - - 2983 - 2.17 0.038 1938 649.8 364.1 - - 1629 - - - - - - - - - 26.10 -
13098 766.0 11.4 547 13103 roll 0.53 - - 2983 - 2.22 0.053 3349 635.6 364.1 - - 1628 - - - - - - - - - 26.14 -
13125 766.0 11.4 547 13131 done 0.53 - - 2983 - 2.20 0.034 1921 -649.1 364.1 - - 1628 - - - - - - - - - 26.27 -
13431 726.1 11.7 558 13436 roll 0.53 - - 2983 - 2.15 0.042 527 -648.4 364.1 - - 1628 - - - - - - - - - 26.25 -
13477 722.5 11.3 559 13482 done 0.53 - - 2982 - 2.15 0.039 1928 651.6 364.1 - - 1627 - - - - - - - - - 26.26 -
13795 687.1 11.0 570 13800 roll 0.53 - - 2983 - 2.28 0.052 3356 626.3 364.1 - - 1627 - - - - - - - - - 26.21 -
13812 687.1 11.0 570 13817 done 0.53 - - 2983 - 2.22 0.034 1907 -652.7 364.1 - - 1627 - - - - - - - - - 26.36 -
14129 646.0 12.7 581 14135 roll 0.53 - - 2983 - 2.12 0.043 532 -648.6 364.1 - - 1627 - - - - - - - - - 26.29 -
14176 642.1 12.7 582 14182 done 0.53 - - 2983 - 2.12 0.038 1924 656.6 364.1 - - 1626 - - - - - - - - - 26.31 -
14496 605.0 10.3 593 14501 roll 0.55 - - 2983 - 2.25 0.052 3345 631.6 364.1 - - 1627 - - - - - - - - - 26.22 -
14528 601.3 10.3 594 14534 done 0.55 - - 2983 - 2.20 0.033 1917 -649.1 364.1 - - 1627 - - - - - - - - - 26.40 -
14841 569.4 10.1 609 14847 roll 0.56 - - 2984 - 2.12 0.042 526 -656.1 364.1 - - 1626 - - - - - - - - - 26.30 -
14874 567.0 10.1 610 14879 done 0.58 - - 2983 - 2.12 0.038 1921 658.0 364.1 - - 1626 - - - - - - - - - 26.32 -
15187 532.9 10.9 626 15192 roll 0.60 - - 2983 - 2.25 0.052 3350 635.1 364.1 - - 1626 - - - - - - - - - 26.21 -
15234 527.6 11.7 628 15240 done 0.61 - - 2983 - 2.17 0.033 1920 -659.0 364.1 - - 1627 - - - - - - - - - 26.41 -
15552 489.6 11.7 644 15554 done 0.63 - - 2983 - - - 1920 - 364.1 - - 1626 - - - - - - - - - - -
15853 455.9 10.9 659 15859 roll 0.65 - - 2983 - 2.12 0.041 535 -653.3 364.1 - - 1626 - - - - - - - - - 26.30 -
15877 453.2 10.7 660 15884 done 0.67 0.10 0.106 3041 580.0 2.12 0.037 1925 655.7 364.1 - - 1626 - - - - - - - - 26.28 26.32 -
16201 402.3 15.5 676 16207 roll 0.62 0.12 0.158 3000 -341.7 2.15 0.040 537 -645.6 364.1 - - 1626 - - - - - - - - 26.32 26.29 -
16234 398.9 15.1 677 16239 done 0.58 - - 3000 - 2.10 0.037 1904 651.0 364.1 - - 1626 - - - - - - - - - 26.32 -
16548 363.4 11.0 693 16553 roll 0.59 - - 2999 - 2.28 0.051 3348 633.3 364.1 - - 1627 - - - - - - - - - 26.18 -
16584 360.7 11.1 694 16591 done 0.59 - - 2999 - 2.20 0.033 1903 -656.8 364.1 - - 1627 - - - - - - - - - 26.41 -
16890 325.1 10.6 710 16896 roll 0.59 - - 3000 - 2.10 0.043 530 -653.8 364.1 - - 1627 - - - - - - - - - 26.27 -
16974 317.3 9.6 714 16979 done 0.63 - - 3000 - 2.08 0.036 1883 650.5 364.1 - - 1626 - - - - - - - - - 26.31 -
17296 286.1 8.9 730 17302 roll 0.66 - - 3000 - 2.28 0.051 3342 639.9 364.1 - - 1627 - - - - - - - - - 26.17 -
17329 284.0 8.7 731 17334 done 0.68 - - 3000 - 2.20 0.032 1882 -663.6 364.1 - - 1627 - - - - - - - - - 26.41 -
17641 256.1 9.4 747 17647 roll 0.71 - - 3000 - 2.05 0.042 538 -655.6 364.1 - - 1627 - - - - - - - - - 26.27 -
17664 253.9 9.6 748 17670 done 0.74 0.12 0.091 3069 575.0 2.08 0.037 1888 649.0 364.1 - - 1627 - - - - - - - - 26.27 26.29 -
17988 201.9 17.1 764 17990 done 0.68 0.17 0.144 3015 -317.6 - - 1889 - 364.1 - - 1627 - - - - - - - - 26.24 - -
18288 168.5 10.8 779 18293 roll 0.68 - - 3016 - 2.33 0.051 3353 628.3 364.1 - - 1628 - - - - - - - - - 26.16 -
18324 166.2 9.8 780 18331 done 0.68 - - 3020 - 2.25 0.032 1873 -657.8 364.1 - - 1628 - - - - - - - - - 26.40 -
18631 136.9 9.9 796 18632 done 0.71 - - 3020 - - - 1873 - 364.1 - - 1628 - - - - - - - - - - -
18932 107.9 7.6 811 18970 roll 0.76 - - 3020 - 2.12 0.041 517 -639.6 398.9 29.02 0.788 1494 -4.6 0.068 - - - - - - - 26.08 25.01
18997 103.7 6.8 814 19058 done 0.86 0.15 0.080 3096 506.7 2.10 0.036 1893 655.2 463.3 52.88 0.783 1232 -5.0 0.071 - - - - - - 26.03 26.03 24.51
19376 64.4 8.1 833 19400 roll 0.90 - - 3097 - 2.35 0.049 3338 614.9 483.9 17.17 0.722 1147 -5.0 0.048 - - - - - - - 25.80 24.84
19454 59.6 7.6 836 19492 done 0.97 - - 3097 - 2.25 0.031 1879 -648.4 518.7 29.02 0.728 1005 -4.9 0.043 - - - - - - - 25.94 24.64
19801 37.0 6.7 865 19864 roll 1.12 0.15 0.080 3175 520.0 2.10 0.040 535 -640.0 586.5 54.50 0.713 729 -5.1 0.028 - - - - - - 26.15 25.44 24.63
19878 29.3 10.6 872 19883 done 1.16 - - 3175 - 2.12 0.034 1898 642.9 586.5 - - 728 - - - - - - - - - 25.55 -
20188 end climb: SURFACE_DEPTH_REACHED
20189 begin surface coast
20220 end surface coast: CONTROL_FINISHED_OK
20220 begin surface
SM 2.02 - - - - -8.29 7.95 0.045 134 -382.5 1.25 0.043 2702 643.2 652.74 32.10 0.060 459 -8.4 0.029 - - - - - -